AP_SmartRTL algorithm breaks on Circle mode

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Issue details

A flight on the weekend showed a problem where the SmartRTL buffer filled up while the vehicle was in circle mode, and SmartRTL disengaged.

This is trivially reproducible in SITL:

mode loiter
arm throttle
rc 3 2000
mode circle
rc 3 1500
set sim_speedup 100

Version master

Platform [ ] All [ ] AntennaTracker [ X ] Copter [ ] Plane [ ] Rover [ ] Submarine

Airframe type Chimera

Hardware type Lumeneer H743

Logs n/a - reproducible in SITL